基于四元数互补滤波的小型四旋翼姿态解算
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摘要
文章做出了针对小型无人机的姿态的详细的分析和解算。无人机姿态解算是无人87机飞控的关键问题。因为MEMS(微机电系统)惯性器件存在测量精度低、噪声大等缺点,会给无人机的姿态解算控制造成了很大的误差,因此需要进行一些必要的改进来提高惯性器件的精度。文章设计了基于三轴陀螺仪、三轴加速度计和三轴磁强计的姿态测量解算系统,完成多数据体融合的无人机姿态解算,在误差方面进行了有效地改善和提升。再通过引入加速度计信任度到基于四元数互补滤波算法中,增加无人机姿态解算的精度。利用实验平台的真实数据进行了算法的验证,结果表明与传统的算法相比较,本文的算法在解算小型四旋翼无人机姿态方面解算简单有效速度快,使姿态测量误差提升到±0.1°。
This paper makes a detailed analysis and settlement of the attitude of small UAV. UAV attitude solution is the key problem of UAV flight control. Because MEMS(micro-electro-mechanical system) inertial components low measuring accuracy, the noise big shortcoming, will give attitude algorithm of unmanned aerial vehicle(UAV) control caused a lot of errors, so need to do some necessary improvements to improve the precision of inertial device. In this paper, based on three-axis gyroscope, three-axis accelerometer and three axis magnetometer in the attitude measurement calculating system, complete the UAV attitude algorithm of integration of multiple data in terms of error effectively improve and enhance. Furthermore, the accuracy of UAV attitude settlement is increased by introducing the accelerometer credibility to the quaternion complementary filtering algorithm. Using the real data of experiment platform for the validation of the proposed algorithm, the results show that compared with the traditional algorithm, this algorithm in solving small four rotor unmanned aerial vehicle(UAV) attitude in calculating is simple and effective fast, make the attitude measuring error to ±0.1°.
This paper makes a detailed analysis and settlement of the attitude of small UAV. UAV attitude solution is the key problem of UAV flight control. Because MEMS(micro-electro-mechanical system) inertial components low measuring accuracy, the noise big shortcoming, will give attitude algorithm of unmanned aerial vehicle(UAV) control caused a lot of errors, so need to do some necessary improvements to improve the precision of inertial device. In this paper, based on three-axis gyroscope, three-axis accelerometer and three axis magnetometer in the attitude measurement calculating system, complete the UAV attitude algorithm of integration of multiple data in terms of error effectively improve and enhance. Furthermore, the accuracy of UAV attitude settlement is increased by introducing the accelerometer credibility to the quaternion complementary filtering algorithm. Using the real data of experiment platform for the validation of the proposed algorithm, the results show that compared with the traditional algorithm, this algorithm in solving small four rotor unmanned aerial vehicle(UAV) attitude in calculating is simple and effective fast, make the attitude measuring error to ±0.1°.
引文
[1] 梁延德,程敏,何福本,等. 基于互补滤波器的四旋翼飞行器姿态解算[J]. 传感器与微系统,2011,30(11):56-58,61.
[2] 楚仕彬,袁亮. 小型四旋翼无人机姿态测量仿真研究[J]. 计算机仿真,2015,32(2):67-73.
[3] Marins J L, Yun X, Bachmann E R, et al. An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors[C]// Intelligent Robots and Systems, 2001.Proceedings. 2001 IEEE/RSJ International Conference on IEEE, 2002:2003-2011.
[4] 赵琳,王小旭,丁继成,等. 组合导航系统非线性滤波算法综述[J]. 中国惯性技术学报,2009,17(1):46-52,58.
[5] 乔相伟,周卫东,吉宇人. 基于四元数粒子滤波的飞行器姿态估计算法研究[J]. 兵工学报,2012,33(9):1070-1075.
[6] 李建国,崔祜涛,田阳. 基于乘性四元数和约束滤波的飞行器姿态估计算法[J]. 系统工程与电子技术,2013,35(5):1031-1036.
[7] 吕印新,肖前贵,胡寿松. 基于四元数互补滤波的无人机姿态解算[J]. 燕山大学学报,2014,38(2):175-180.
[8] 徐玉,李平,韩波. 一种面向机动的低成本姿态测量系统[J]. 传感技术学报,2007,20(10):2272-2275.
[9] Li Y, Dempster A, Li B, et al. A Low-cost Attitude Heading Reference System by Combination of GPS and Magnetometers and MEMS Inertial Sensors for Mobile Applications[J]. Positioning, 2006, 5(1-2):88-95.
[2] 楚仕彬,袁亮. 小型四旋翼无人机姿态测量仿真研究[J]. 计算机仿真,2015,32(2):67-73.
[3] Marins J L, Yun X, Bachmann E R, et al. An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors[C]// Intelligent Robots and Systems, 2001.Proceedings. 2001 IEEE/RSJ International Conference on IEEE, 2002:2003-2011.
[4] 赵琳,王小旭,丁继成,等. 组合导航系统非线性滤波算法综述[J]. 中国惯性技术学报,2009,17(1):46-52,58.
[5] 乔相伟,周卫东,吉宇人. 基于四元数粒子滤波的飞行器姿态估计算法研究[J]. 兵工学报,2012,33(9):1070-1075.
[6] 李建国,崔祜涛,田阳. 基于乘性四元数和约束滤波的飞行器姿态估计算法[J]. 系统工程与电子技术,2013,35(5):1031-1036.
[7] 吕印新,肖前贵,胡寿松. 基于四元数互补滤波的无人机姿态解算[J]. 燕山大学学报,2014,38(2):175-180.
[8] 徐玉,李平,韩波. 一种面向机动的低成本姿态测量系统[J]. 传感技术学报,2007,20(10):2272-2275.
[9] Li Y, Dempster A, Li B, et al. A Low-cost Attitude Heading Reference System by Combination of GPS and Magnetometers and MEMS Inertial Sensors for Mobile Applications[J]. Positioning, 2006, 5(1-2):88-95.